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<div class="title">disentanglement_platform.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// BSD 3-Clause License</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2018-2019, Max Planck Gesellschaft</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Copyright note valid unless otherwise stated in individual files.</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;Eigen/Eigen&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;mpi_cpp_tools/basic_tools.hpp&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;mpi_cpp_tools/math.hpp&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;mpi_cpp_tools/dynamical_systems.hpp&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;real_time_tools/threadsafe/threadsafe_timeseries.hpp&quot;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &quot;real_time_tools/timer.hpp&quot;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &quot;real_time_tools/thread.hpp&quot;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacerobot__interfaces.html">robot_interfaces</a></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;{</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classrobot__interfaces_1_1DisentanglementPlatform.html">   28</a></span>&#160;<span class="keyword">class </span><a class="code" href="classrobot__interfaces_1_1DisentanglementPlatform.html">DisentanglementPlatform</a></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;{</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keyword">typedef</span> Eigen::Vector3d Vector;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">enum</span> JointIndexing</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    {</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        table,</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        base,</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        tip,</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        joint_count</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    };</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <a class="code" href="classrobot__interfaces_1_1DisentanglementPlatform.html">DisentanglementPlatform</a>()</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    {</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        max_torques_ = 2.0 * 0.02 * 9 * Vector(9.79, 1, 1);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        safety_constraints_[table].min_velocity_ = -0.3;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        safety_constraints_[table].min_position_ =</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;            std::numeric_limits&lt;double&gt;::infinity();</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        safety_constraints_[table].max_velocity_ = 0.3;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        safety_constraints_[table].max_position_ =</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;            -std::numeric_limits&lt;double&gt;::infinity();</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        safety_constraints_[table].max_torque_ = max_torques_[table];</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        safety_constraints_[table].inertia_ = 1.0;      <span class="comment">//dummy</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        safety_constraints_[table].max_jerk_ = 10000.0; <span class="comment">// dummy</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        safety_constraints_[base].min_velocity_ = -5.0;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        safety_constraints_[base].min_position_ =</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;            std::numeric_limits&lt;double&gt;::infinity();</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        safety_constraints_[base].max_velocity_ = 5.0;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        safety_constraints_[base].max_position_ =</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;            -std::numeric_limits&lt;double&gt;::infinity();</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        safety_constraints_[base].max_torque_ = max_torques_[base];</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        safety_constraints_[base].inertia_ = 1.0;      <span class="comment">//dummy</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        safety_constraints_[base].max_jerk_ = 10000.0; <span class="comment">// dummy</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        safety_constraints_[tip].min_velocity_ = -5.0;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        safety_constraints_[tip].min_position_ =</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;            std::numeric_limits&lt;double&gt;::infinity();</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        safety_constraints_[tip].max_velocity_ = 5.0;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        safety_constraints_[tip].max_position_ =</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            -std::numeric_limits&lt;double&gt;::infinity();</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        safety_constraints_[tip].max_torque_ = max_torques_[tip];</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        safety_constraints_[tip].inertia_ = 1.0;      <span class="comment">//dummy</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        safety_constraints_[tip].max_jerk_ = 10000.0; <span class="comment">// dummy</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    }</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> constrain_and_apply_torques(<span class="keyword">const</span> Vector &amp;desired_torques)</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        constrained_torques_ = <a class="code" href="classrobot__interfaces_1_1DisentanglementPlatform.html#a1063bb5f024e759eaf8b4fca07a13866">constrain_torques</a>(desired_torques);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        apply_torques(constrained_torques_);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    }</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keyword">virtual</span> Vector get_constrained_torques()<span class="keyword"> const</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keywordflow">return</span> constrained_torques_;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    }</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">virtual</span> Vector get_measured_torques() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">virtual</span> Vector get_measured_angles() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keyword">virtual</span> Vector get_measured_velocities() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> wait_for_execution() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classrobot__interfaces_1_1DisentanglementPlatform.html#a8a4245ddee0602615e2138bda4319e0b">   93</a></span>&#160;    Vector <a class="code" href="classrobot__interfaces_1_1DisentanglementPlatform.html#a8a4245ddee0602615e2138bda4319e0b">get_max_torques</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keywordflow">return</span> max_torques_;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    }</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> apply_torques(<span class="keyword">const</span> Vector &amp;desired_torques) = 0;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classrobot__interfaces_1_1DisentanglementPlatform.html#a1063bb5f024e759eaf8b4fca07a13866">  103</a></span>&#160;    <span class="keyword">virtual</span> Vector <a class="code" href="classrobot__interfaces_1_1DisentanglementPlatform.html#a1063bb5f024e759eaf8b4fca07a13866">constrain_torques</a>(<span class="keyword">const</span> Vector &amp;desired_torques)</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    {</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        Vector velocities = get_measured_velocities();</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        Vector angles = get_measured_angles();</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        Vector constrained_torques;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; desired_torques.size(); i++)</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        {</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;            constrained_torques[i] =</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                safety_constraints_[i].get_safe_torque(desired_torques(i),</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                                                       velocities(i),</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                                                       angles(i));</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        }</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keywordflow">return</span> constrained_torques;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    }</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    Vector constrained_torques_;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    std::array&lt;mct::SafetyConstraint, 3&gt; safety_constraints_;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    Vector max_torques_;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;};</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Action, <span class="keyword">typename</span> Observation&gt;</div><div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classrobot__interfaces_1_1Robot.html">  127</a></span>&#160;<span class="keyword">class </span><a class="code" href="classrobot__interfaces_1_1Robot.html">Robot</a></div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;{</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1Robot_1_1Data.html">  130</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structrobot__interfaces_1_1Robot_1_1Data.html">Data</a></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    {</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        Action desired_action;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        Action safe_action;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        Observation observation;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    };</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="structrobot__interfaces_1_1Robot_1_1Data.html">Data</a> step(Action desired_action) = 0;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;};</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;} <span class="comment">// namespace robot_interfaces</span></div><div class="ttc" id="structrobot__interfaces_1_1Robot_1_1Data_html"><div class="ttname"><a href="structrobot__interfaces_1_1Robot_1_1Data.html">robot_interfaces::Robot::Data</a></div><div class="ttdef"><b>Definition:</b> disentanglement_platform.hpp:130</div></div>
<div class="ttc" id="classrobot__interfaces_1_1Robot_html"><div class="ttname"><a href="classrobot__interfaces_1_1Robot.html">robot_interfaces::Robot</a></div><div class="ttdef"><b>Definition:</b> disentanglement_platform.hpp:127</div></div>
<div class="ttc" id="classrobot__interfaces_1_1DisentanglementPlatform_html_a1063bb5f024e759eaf8b4fca07a13866"><div class="ttname"><a href="classrobot__interfaces_1_1DisentanglementPlatform.html#a1063bb5f024e759eaf8b4fca07a13866">robot_interfaces::DisentanglementPlatform::constrain_torques</a></div><div class="ttdeci">virtual Vector constrain_torques(const Vector &amp;desired_torques)</div><div class="ttdoc">do NOT touch this function unless you know what you are doing, it is essential for running the robot ...</div><div class="ttdef"><b>Definition:</b> disentanglement_platform.hpp:103</div></div>
<div class="ttc" id="namespacerobot__interfaces_html"><div class="ttname"><a href="namespacerobot__interfaces.html">robot_interfaces</a></div><div class="ttdef"><b>Definition:</b> __init__.py:1</div></div>
<div class="ttc" id="classrobot__interfaces_1_1DisentanglementPlatform_html_a8a4245ddee0602615e2138bda4319e0b"><div class="ttname"><a href="classrobot__interfaces_1_1DisentanglementPlatform.html#a8a4245ddee0602615e2138bda4319e0b">robot_interfaces::DisentanglementPlatform::get_max_torques</a></div><div class="ttdeci">Vector get_max_torques() const </div><div class="ttdef"><b>Definition:</b> disentanglement_platform.hpp:93</div></div>
<div class="ttc" id="classrobot__interfaces_1_1DisentanglementPlatform_html"><div class="ttname"><a href="classrobot__interfaces_1_1DisentanglementPlatform.html">robot_interfaces::DisentanglementPlatform</a></div><div class="ttdoc">TODO: this whole class is outdated and should be adapted to have the same structure as the finger...</div><div class="ttdef"><b>Definition:</b> disentanglement_platform.hpp:28</div></div>
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